US7654595B2 - Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism - Google Patents
Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism Download PDFInfo
- Publication number
- US7654595B2 US7654595B2 US10/518,756 US51875604A US7654595B2 US 7654595 B2 US7654595 B2 US 7654595B2 US 51875604 A US51875604 A US 51875604A US 7654595 B2 US7654595 B2 US 7654595B2
- Authority
- US
- United States
- Prior art keywords
- grasping
- bone
- members
- joint drive
- drive mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime, expires
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 199
- 238000004519 manufacturing process Methods 0.000 title description 22
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 147
- 230000008878 coupling Effects 0.000 claims abstract description 119
- 238000010168 coupling process Methods 0.000 claims abstract description 119
- 238000005859 coupling reaction Methods 0.000 claims abstract description 119
- 238000003491 array Methods 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 34
- 229920001971 elastomer Polymers 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 230000008602 contraction Effects 0.000 claims description 10
- 230000003042 antagnostic effect Effects 0.000 claims description 7
- 229920000642 polymer Polymers 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 4
- 239000007779 soft material Substances 0.000 claims description 4
- 238000001816 cooling Methods 0.000 claims description 3
- 230000005684 electric field Effects 0.000 claims description 2
- 239000012781 shape memory material Substances 0.000 claims description 2
- 210000003811 finger Anatomy 0.000 description 18
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 16
- 210000004247 hand Anatomy 0.000 description 11
- 238000000034 method Methods 0.000 description 11
- -1 polyethylene Polymers 0.000 description 11
- 210000001145 finger joint Anatomy 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 239000000463 material Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000009467 reduction Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 230000002459 sustained effect Effects 0.000 description 5
- 239000004743 Polypropylene Substances 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 229920000139 polyethylene terephthalate Polymers 0.000 description 4
- 239000005020 polyethylene terephthalate Substances 0.000 description 4
- 229920001155 polypropylene Polymers 0.000 description 4
- 239000004698 Polyethylene Substances 0.000 description 3
- 239000006260 foam Substances 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 229920001084 poly(chloroprene) Polymers 0.000 description 3
- 229920000573 polyethylene Polymers 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 239000002861 polymer material Substances 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 229910000906 Bronze Inorganic materials 0.000 description 1
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000010974 bronze Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 229920001940 conductive polymer Polymers 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- KUNSUQLRTQLHQQ-UHFFFAOYSA-N copper tin Chemical compound [Cu].[Sn] KUNSUQLRTQLHQQ-UHFFFAOYSA-N 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 229910000734 martensite Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 229920013716 polyethylene resin Polymers 0.000 description 1
- 229920005749 polyurethane resin Polymers 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000015541 sensory perception of touch Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000004073 vulcanization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Definitions
- the present invention relates to a multi-joint drive mechanism and a manufacturing method therefor, and a grasping hand and robot using the mechanism.
- the present invention relates to a multi-joint drive mechanism, as well as a manufacturing method therefor, capable of grasping various object articles and being simple in structure and low in manufacturing cost, and also relates to a grasping hand and robot using the mechanism.
- the grasping hands in conventional industrial robots have hitherto been proposed in many cases as those for use in in-plant production of products and for precision handling of particular components.
- the grasping hands for robots that are expected to play active part in household chore support or work support in home, office, hospitals, or the like, as well as in care aid for the aged or the physically impaired and the like are required that the grasping hands themselves be small-sized, lightweight, soft and safe, and moreover capable of dexterously grasping various objects.
- a man-type robot hand for research use is disclosed in the Papers of Society of Mechanical Engineers, 66, 651C, 3672/3678 (2000).
- This robot hand has one 4-joint and 4-degree-of-freedom thumb and four 4-joint and 3-degree-of-freedom fingers, where joints at front ends of the four fingers are provided by link mechanisms and the other joints, in each of which a small-size servomotor is incorporated, is equipped with distribution-type pressure sensors.
- the robot hand which has been commercially available for research use, is expensive and restrictive of its use because of its being an assembly of many components.
- An object of the present invention is to provide a multi-joint drive mechanism which can solve the above issues and which has a concrete structure of practicable level including a simplicity of its manufacture as a drive mechanism, and also to provide a manufacturing method for the drive mechanism as well as a grasping hand and a robot using the mechanism.
- the present invention has the following constitution.
- a multi-joint drive mechanism comprising a bone-member layer member in which a plurality of bone members are arranged in arrays, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on a contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side and moreover which are fixed between the plurality of bone members,
- a method for manufacturing a multi-joint drive mechanism which comprises a bone-member layer member in which a plurality of bone members are arranged in arrays, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on a contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions with the coupling portions between the plurality of adjoining bone members serving as joints by expanding or contracting the elastically expanding/contracting member, the method comprising:
- a grasping hand having a plurality of finger mechanisms provided in opposition, each of the finger mechanisms having a multi-joint drive mechanism which includes a bone-member layer member in which a plurality of bone members are arranged in arrays, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on a contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions with the coupling portions between the plurality of adjoining bone members serving as joints by expanding or contracting the elastically expanding/contracting member, and
- a robot comprising: a grasping hand having a plurality of multi-joint drive mechanisms, each of the multi-joint drive mechanisms having a bone-member layer member in which a plurality of bone members are arranged in arrays, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on a contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanisms drive flexural motions with the coupling portions between the plurality of adjoining bone members serving as joints by expanding or contracting the elastically expanding/contracting member; and
- FIG. 1A is a plan view of a planar-type joint drive mechanism in a first embodiment of the present invention
- FIG. 1B is a sectional view of the joint drive mechanism of the first embodiment
- FIG. 1C is a sectional view representing a deformed state of the joint drive mechanism of the first embodiment
- FIG. 1D is a sectional view representing a deformed state of the joint drive mechanism of the first embodiment
- FIG. 2A is a plan view of a planar-type joint drive mechanism in a second embodiment of the present invention.
- FIG. 2B is a sectional view of the joint drive mechanism of the second embodiment
- FIG. 2C is a sectional view representing a deformed state of the joint drive mechanism of the second embodiment
- FIG. 2D is a sectional view representing a deformed state of the joint drive mechanism of the second embodiment
- FIG. 3A is a perspective view of a 4-finger type grasping hand in the second embodiment of the present invention.
- FIG. 3B is a perspective view of a 6-finger type grasping hand in the second embodiment of the present invention.
- FIG. 4A is a perspective view of an elastic hinge in the second embodiment of the present invention.
- FIG. 4B is a perspective view of the grasping hand showing a grasping state in the second embodiment of the present invention.
- FIG. 4C is a perspective view of a hinge in another mode of the second embodiment of the present invention.
- FIG. 4D is a perspective view of a grasping hand showing another grasping state in the second embodiment of the present invention.
- FIG. 5A is a perspective view of a multi-axis rotary type elastic hinge in a third embodiment of the present invention.
- FIG. 5B is a perspective view of a drive mechanism for the multi-axis rotary type elastic hinge in the third embodiment
- FIG. 5C is a sectional view of a drive mechanism for the multi-axis rotary type elastic hinge in the third embodiment
- FIG. 6 is a perspective view representing a part of a multi-joint drive mechanism using the multi-axis rotary type elastic hinge in the third embodiment of the present invention.
- FIG. 7A is a sectional view of a planar-type joint drive mechanism in a fourth embodiment of the present invention.
- FIG. 7B is a plan view of the planar-type joint drive mechanism in the fourth embodiment of the present invention.
- FIG. 8A is a sectional view of an antagonistic drive type joint drive mechanism in the fourth embodiment of the present invention.
- FIG. 8B is a plan view of the antagonistic drive type joint drive mechanism in the fourth embodiment of the present invention.
- FIG. 9A is a perspective view of the grasping hand showing a grasping state in the second embodiment of the present invention.
- FIG. 9B is a perspective view of the grasping hand showing a grasping state in the second embodiment of the present invention.
- FIG. 10 is a perspective view of a robot having the grasping hand in the second embodiment of the present invention.
- FIG. 11A is a sectional view of a joint drive mechanism in a fifth embodiment of the present invention.
- FIG. 11B is a plan view of the joint drive mechanism in the fifth embodiment of the present invention.
- FIGS. 12A , 12 B, and 12 C are block diagrams, respectively, showing a manufacture of the joint drive mechanism of the present invention
- FIGS. 13A , 13 B, 13 C, and 13 D are block diagrams, respectively, showing another manufacture of the joint drive mechanism of the present invention.
- FIG. 14 is a block diagram showing the structure around the pneumatic control of the planar-type joint drive mechanism in the first embodiment of the present invention.
- a multi-joint drive mechanism comprising a bone-member layer member in which a plurality of bone members are arranged in arrays, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on a contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side and moreover which are fixed between the plurality of bone members,
- the multi-joint drive mechanism as defined in the first aspect, wherein a degree of freedom of the coupling portions is given generally only by a degree of rotational freedom and the degree of freedom of the coupling portions at least of proximities of their forward ends is restrained to one degree of freedom about an axis generally perpendicular to a direction the arrays of the bone-member layer member.
- the multi-joint drive mechanism as defined in the second aspect, wherein the coupling portions are constructed by hinges each formed of a flat spring.
- the multi-joint drive mechanism as defined in the second aspect, wherein the coupling portions are hinges formed of the bone members themselves by constricting a part of the bone members.
- the multi-joint drive mechanism as defined in the first aspect, wherein a flexible wiring board having signal lines for connection of deformation sensors for detecting deformation amount of the coupling portions, and drive lines for electrically driving the elastically expanding/contracting members is disposed in proximities to flexural portions of the coupling portions.
- the multi-joint drive mechanism as defined in the fifth aspect, wherein the flexible wiring board serves also as hinges each formed of a flat spring.
- the multi-joint drive mechanism as defined in any one of the first to sixth aspects, further comprising a device for expanding or contracting the elastically expanding/contracting member, the device being a device which is driven with air pressure applied to a rubber elastic member or a device which is driven by heating and cooling shape-memory material or a device which is driven with an electric field applied to electro-active polymer.
- the multi-joint drive mechanism as defined in the seventh aspect, wherein the elastically expanding/contracting member is formed of a rubber elastic member, and the device for expanding or contracting the elastically expanding/contracting member is a device for performing drive by application of air pressure to the rubber elastic member, the multi-joint drive mechanism further comprising a multilayer-type pneumatic piping layer member having piping for applying air pressure to the rubber elastic member.
- a multi-joint drive mechanism which comprises a bone-member layer member in which a plurality of bone members are arranged in arrays, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on a contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions with the coupling portions between the plurality of adjoining bone members serving as joints by expanding or contracting the elastically expanding/contracting member, the method comprising:
- a grasping hand having a plurality of finger mechanisms provided in opposition, each of the finger mechanisms having a multi-joint drive mechanism which includes a bone-member layer member in which a plurality of bone members are arranged in arrays, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on a contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism-drives flexural motions with the coupling portions between the plurality of adjoining bone members serving as joints by expanding or contracting the elastically expanding/contracting member, and
- the grasping hand as defined in the 10th aspect, wherein the grasping hand is enabled to grasp the object by the plurality of finger mechanisms provided in oppositions and has, at least on a grasping surface side of the grasping hand, touch sensors such as pressure-sensitive sensors or friction sensors, or displacement sensors for the coupling portions, or tag information detection antennas, wherein grasping operation is controlled based on information detected by the sensors or antennas.
- touch sensors such as pressure-sensitive sensors or friction sensors, or displacement sensors for the coupling portions, or tag information detection antennas, wherein grasping operation is controlled based on information detected by the sensors or antennas.
- the grasping hand as defined in the 10th or 11th aspect, wherein at least a part of the grasping surface side of the grasping hand is covered with a high-friction soft material such as rubber.
- the grasping hand as defined in the 10th or 11th aspect, wherein the elastically expanding/contracting member is provided on an outer side-face side of the grasping hand, the elastically expanding/contracting member including both expansion type and contraction type ones so as to drive the grasping operation by antagonistic action of both types.
- a grasping-object information detection device such as an ultrasonic type or image pick-up type or other grasping object detection sensor or camera or a tag information detection antenna is provided at a base portion of the grasping hand, whereby the grasping operation is controlled based on grasping-object information detected by the grasping-object information detection device.
- a robot comprising: a grasping hand having a plurality of multi-joint drive mechanisms, each of the multi-joint drive mechanisms having a bone-member layer member in which a plurality of bone members are arranged in arrays, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on a contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanisms drive flexural motions with the coupling portions between the plurality of adjoining bone members serving as joints by expanding or contracting the elastically expanding/contracting member; and
- the robot as defined in the 15th aspect, further comprising a grasping-object information detection device such as an ultrasonic type or image pick-up type or other grasping object detection sensor or camera or a tag information detection antenna, whereby the grasping operation of the grasping hand is planned and controlled based on grasping-object information detected by the grasping-object information detection device.
- a grasping-object information detection device such as an ultrasonic type or image pick-up type or other grasping object detection sensor or camera or a tag information detection antenna
- the multi-joint drive mechanism as defined in the first aspect, wherein the bone-member layer member has the plurality of bone members arranged in arrays and in a generally planar fashion.
- FIGS. 1A and 1B are a plan view and a sectional view, respectively, of planar-type (flat plane-type in this case) joint drive mechanisms 100 , 100 in a first embodiment of the present invention.
- the joint drive mechanisms 100 , 100 shown in FIGS. 1A to 1D are driven by a driving source which is a pneumatic actuator that expands with air pressure applied thereto.
- a plurality of bone members 1 e.g. four rectangular-plate-shaped bone members 1 (reference numerals 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 are used when places are specifically designated, and reference numeral 1 is generically used when not) are coupled to each other by one elongated rectangular-plate-shaped coupling member 2 , where respective adjoining bone members 1 and 1 are made movable relative to each other by respective coupling portions 2 A of the coupling member 2 (i.e., portions that function as joints of the multi-joint drive mechanism 100 ), and where elastic expansion/contraction members 3 (reference numerals 3 - 1 , 3 - 2 , 3 - 3 are used when places are specifically designated, and reference numeral 3 is generically used when not) are fixed to the bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 by fixing portions 4 , .
- fixing portions 4 serve as portions that exert force on the bone members 1 , respectively, upon expansion and contraction of the elastic expansion/contraction members 3 , and need to be fixed at these sites to transfer this force. Therefore, the fixing portions 4 are formed of a structure, for example, that protruding portions provided in the elastic expansion/contraction members 3 are fitted into recessed portions 1 a provided in the bone members 1 .
- the four bone members 1 ( 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 ) are so structured that the bone member 1 - 1 at the forward end (left end of FIG. 1A ) is roughly equal in length to the bone member 1 - 4 at the base end (right end of FIG. 1A ), and that the second bone member 1 - 2 and the third bone member 1 - 3 are roughly equal in length to each other and longer than the forward end bone member 1 - 1 , thus the structure being close to that of the human arm.
- the joint drive mechanisms 100 , 100 although shown as being arranged in two arrays in FIG. 1A , yet may actually be arranged in opposition to each other so as to be enabled to fulfill grasping operation or the like. Also, a base end portion of each base-end side bone member 1 - 4 is fixed at a fixing portion 10 of each multi-joint drive mechanism 100 .
- the bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 are provided by using flat plates of high-in-rigidity but light-in-weight plastics such as polyethylene or its foams.
- the plurality of bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 are arranged in array in straight line along their longitudinal direction (array direction), and moreover the plurality of bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 as a whole form a bone-member layer member 101 that is disposed in a generally planar mode.
- the coupling member 2 is provided by using a flat spring made of a metal such as phosphor bronze or stainless or a plastic such as polypropylene or polyethylene terephthalate, and end portions of the coupling member 2 are bonded to the recessed portions 1 a , 1 a of adjoining bone members 1 , 1 , respectively, by means of adhesive, and an elastic hinge is formed between the two adjacent bone members 1 , 1 at their coupling portions 2 A so that to the coupling member 2 is given a degree of freedom of rotation around one axis of a direction (vertical direction in FIG. 1A ) perpendicular to the longitudinal direction of the coupling portions 2 A.
- a flat spring made of a metal such as phosphor bronze or stainless or a plastic such as polypropylene or polyethylene terephthalate
- the elastic expansion/contraction members 3 ( 3 - 1 , 3 - 2 , 3 - 3 ), containing therein a device that expands or contracts the relevant elastically expanding/contracting member 3 , are formed of neoprene or silicon or other rubber so as to have an outer shape generally close to a flat shape and have in their interior a pneumatic operation chamber communicating with air-pressure introducing passages 5 (reference numerals 5 - 1 , 5 - 2 , 5 - 3 are used when places are specifically designated, and reference numeral 5 is generically used when not), and further contain pneumatic actuators 3 - 1 , 3 - 2 , 3 - 3 which expands along the lengthwise direction by application of air pressure with the air pressure introduced from the air-pressure introducing passages 5 - 1 , 5 - 2 , 5 - 3 into the pneumatic operation chamber.
- these pneumatic actuators 3 - 1 , 3 - 2 , 3 - 3 contract along their lengthwise direction by the air pressure being conversely reduced below the atmospheric pressure.
- adjacent pneumatic actuators are coupled together by an elastically expanding/contracting member coupling portion 3 A made of the same rubber material (reference numerals 3 A- 2 , 3 A- 3 are used when places are specifically designated, and reference numeral 3 A is generically used when not), and integrated together as a whole.
- the pneumatic actuators may also be coupled also at elastically expanding/contracting member coupling portions 3 B, 3 B as required to form a whole structure, and thereafter cut off.
- the individual pneumatic actuators 3 - 1 , 3 - 2 , 3 - 3 which are the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 , are connected to a pneumatic controller 6 by a plurality of air-pressure introducing passages 5 - 1 , 5 - 2 , 5 - 3 , respectively, and driven by control of air pressure.
- the pneumatic controller 6 is composed roughly of an air-pressure driving source 6 B such as a pressurization pump, opening/closing valves 6 C- 1 , 6 C- 2 , 6 C- 3 , such as solenoid valves, interposed at connection end portions of the air-pressure introducing passages 5 - 1 , 5 - 2 , 5 - 3 connected to the air-pressure driving source 6 B, and a control section 6 A which performs drive control of the air-pressure driving source 6 B as well as opening and closing control of the opening/closing valves 6 C- 1 , 6 C- 2 , 6 C- 3 .
- an air-pressure driving source 6 B such as a pressurization pump
- opening/closing valves 6 C- 1 , 6 C- 2 , 6 C- 3 such as solenoid valves
- the air-pressure introducing passages 5 - 1 , 5 - 2 , 5 - 3 are provided by using pneumatic line tubes made of polyurethane, and rubber actuators 3 - 1 , 3 - 2 , 3 - 3 and connection joint components are connected together, as required, by means of adhesion, press fit, or the like. These air-pressure introducing passages 5 - 1 , 5 - 2 , 5 - 3 may also be formed inside elastically expanding/contracting member coupling portions 3 A- 2 , 3 A- 3 .
- a 150 mm long one-finger structure multi-joint drive mechanism was fabricated with a structure that four 5 mm thick, 18 mm wide, and 20 mm-50 mm long bone members made of expanded polyethylene resin were used as the bone members 1 , a 0.25 mm-thick thin sheet of polyethylene terephthalate resin was bonded as the coupling member 2 on those bone members, and 5 mm thick-in-outer-diameter, 13 mm wide, and 10 mm long hollow members made of neoprene rubber as the elastically expanding/contracting members 3 as well as air line tubes made of 4 mm-dia. polyurethane resin as the coupling portions 3 A were coupled to the bone members 1 for both piping and coupling use. As a result, the weight of the multi-joint drive mechanism was as light as 20 gf.
- reference numeral 32 in FIG. 1A is an elastically expanding/contracting member disposed so as to be stretched over the base end portions of the bone members between the bone member arrays, where the gap between the bone member arrays of the multi-joint drive mechanisms 100 , 100 can be efficiently widened by making this elastically expanding/contracting member 32 expanded.
- FIGS. 1C and 1D are sectional views representing deformed states of the respective joint drive mechanisms 100 that are expanded or contracted with air pressure applied to the pneumatic rubber actuators 3 - 1 , 3 - 2 , 3 - 3 , which are the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 , or with the pressure reduced to below the atmospheric pressure, by the pneumatic controller 6 .
- FIG. 1C shows a state in which the actuators 3 - 1 , 3 - 2 , 3 - 3 are expanded in their longitudinal direction by the application of air pressure and thus are bent with portions of the coupling member 2 , i.e. the coupling portions 2 A, serving as elastic hinges.
- FIG. 1D shows a state that the actuators 3 - 1 , 3 - 2 , 3 - 3 are contracted in their longitudinal direction by reduction of air pressure (pressure reduction to below the atmospheric pressure). In this case, the actuators 3 - 1 , 3 - 2 , 3 - 3 are deformed so as to be bent in a direction opposite to that of FIG.
- the pressure reduction can be achieved by a pressure-reducing pump (vacuum pump) 6 D (see FIG. 14 ) which is provided and set in the pneumatic controller 6 independent of the pressurization pump 6 B, and by switching this pressure-reducing pump with the valves.
- a pressure-reducing pump vacuum pump
- the amount of resultant deformation can easily be changed by changing the pressure of pressurization or reduction. It is noted that although a case of deformation in the opposite direction by pressure reduction has been explained in FIG.
- the plurality of bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 are disposed in a planar arrangement in an identical layer, while the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 are also provided in adjacency to one side of this layer, thus making up a planar-type thin drive mechanism composed of the bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 , the coupling member 2 , and the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 .
- a small-sized, lightweight joint drive mechanism there is provided a small-sized, lightweight joint drive mechanism.
- the bone-member layer member 101 in which the plurality of bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 are disposed in a generally planar arrangement can be collectively formed up and moreover the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 can be coupled to their adjoining surfaces of the bone-member layer member 101 , there can be provided a device which can be manufactured by a manufacturing method good at collective mass productivity even with a structure in which a multiplicity of bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 are coupled, and yet which is low in price.
- these members are positioned on the same bone-member layer member 101 , and thus, it is also possible, as in the foregoing case of the integrated pneumatic actuators 3 - 1 , 3 - 2 , 3 - 3 , that those bone members are disposed in a planar structure and coupled at dummy coupling portions, in which arrangement the elastic expanding/contracting members 3 are coupled to their adjoining surfaces and thereafter separated at these dummy coupling portions.
- the coupling at these portions may be achieved simply by such a means as fitting, press fit, or adhesion into the respective recessed portions 1 a formed in the bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 .
- FIGS. 2A and 2B are a plan view and a sectional view, respectively, of a planar-type joint drive mechanism in a second embodiment of the present invention.
- the planar-type joint drive mechanism is one in which the joint drive mechanism 100 described in the first embodiment is additionally provided with a sensing function.
- FIGS. 2A and 2B represent only one array of the joint drive mechanism 100 composed of arrayed bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 , but the joint drive mechanism 100 may be provided in two arrays like FIG. 1 , and otherwise may be provided in multiple arrays. Further, FIGS.
- FIGS. 3A and 3B represent perspective views of grasping hands using this planar-type joint drive mechanism 100 in quantities of four and six, respectively.
- the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 are provided on the outer side faces of the grasping hands, while the coupling members 2 are positioned on the grasping face sides of the hands.
- a flexible wiring board 7 which is equipped with signal lines for connection of sensors such as deformation amount sensors 8 , . . . , 8 of the respective coupling portions 2 A, connection lines such as drive lines for electrically driving the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 is disposed adjoining to the coupling portions 2 A, . . . , 2 A.
- sensors such as deformation amount sensors 8 , . . . , 8 of the respective coupling portions 2 A
- connection lines such as drive lines for electrically driving the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 is disposed adjoining to the coupling portions 2 A, . . . , 2 A.
- the deformation amount sensors 8 On the flexible wiring board 7 are provided the deformation amount sensors 8 , . . .
- the tag information detection antennas 9 can detect or record various types of information related to a grasping object from a tag attached to the grasping object.
- the antennas on the contact surface side of the joint drive mechanism portion that corresponds to the finger and that approaches most to the grasping object in grasping operation, it becomes possible to detect the tag information at a position close to the grasping object, so that its detection precision can be enhanced.
- Information for determination of control in the grasping for reliable fulfillment of the grasping is detected, the information being such as configuration, weight, softness, or fragility of the grasping object and moreover proper grasping force therefor and which site to perform the grasping as preferable detection information, and then the grasping operation is performed.
- results of performing the grasping operation such as a weight change of a remainder of a drink bottle, a position or posture after a move, and a success or failure of grasping, which are items of information for controlling the re-grasping of the same grasping object, can be recorded.
- the individual multi-joint drive mechanisms 100 are made to separate away from the grasping object by reverse drive of the actuators 3 - 1 , 3 - 2 , 3 - 3 performed by the control section 6 A.
- the flexible wiring board 7 is prevented from being largely warped even if the multi-joint drive mechanisms 100 are driven, thus making it implementable to provide a device having high reliability against iterative operations.
- intermediate-layer plane whose strain in the longitudinal direction is zero comes to a center position in its thicknesswise direction according to the strength of materials, where strain increases with increasing distance from the intermediate-layer plane. Therefore, by disposing the flexible wiring board 7 in proximity to the coupling member 2 , it is implementable to make up a structure that the flexible wiring board 7 is prevented from being largely distorted.
- the joint drive mechanism 100 of the second embodiment has a planar-type structure, which is a structure excellent in process compatibility and suited to multi-layering of the flexible wiring board 7 similarly based on a planar structure. Moreover, since the joint drive mechanism 100 , which is planar structured as a whole, can be formed into a small-sized, lightweight device even with a sensing function included.
- the driving-source actuators 3 - 1 , 3 - 2 , 3 - 3 are driven so as to average pressure signals of pressure-sensitive sensors as an example of the touch sensors correspondingly provided on the respective bone members 1 ( 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 ) of the multi-joint drive mechanism 100 , it becomes possible to grasp grasping objects of various configurations along their configurations, so that the grasping using this grasping hand can be made more flexible in responsivity.
- FIGS. 3A and 3B represent perspective views of grasping hands using the joint drive mechanisms 100 of FIGS. 2A and 2B , where the joint drive mechanism 100 is provided in a plural quantity in opposition so as to be given a grasping function.
- FIG. 3A shows a 4-finger type grasping hand in which two groups each of two fingers each formed from the joint drive mechanism 100 are opposed to each other.
- FIG. 3B shows a 6-finger type grasping hand in which two groups each of three fingers each formed from the joint drive mechanism 100 similarly are opposed to each other.
- the 6-finger type grasping hand is so constructed that, as compared with outer-side finger joint mechanisms 100 a , 100 c each formed from the joint drive mechanism 100 , a mid-side finger joint mechanism 100 c formed from the joint drive mechanism 100 is larger in joint-to-joint distance so that the joints are shifted in position and increased in length, while the mid-side finger joint mechanism 100 c is made longer than the outer-side finger joint mechanisms 100 a , 100 c so as to be protruded from the outer-side finger joint mechanisms 100 a , 100 c .
- the base-end side bone members 1 - 4 are fixed to a fixing portion 10 A of the joint drive mechanism 100 in opposition to each other.
- the base-end side bone members 1 - 4 are so provided that one rectangular-plate shaped bone member 1 - 4 A is shared by adjoining two joint drive mechanisms 100 , 100 .
- touch sensors or tag information detection antennas 13 such as pressure-sensitive sensors, shearing force sensors, or friction sensors, which are connected to the control section 6 A or the like, and moreover at its coupling portions 2 A are provided displacement sensors 8 which are connected to the control section 6 A or the like to detect displacements of the coupling portions 2 A, . . . , 2 A, respectively.
- the individual multi-joint drive mechanisms 100 are made to separate away from the grasping object by reverse drive of the actuators 3 - 1 , 3 - 2 , 3 - 3 performed by the control section 6 A.
- the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 are provided on the outer side face side 12 of the grasping hand, and driven with air pressure applied from the air-pressure introducing passages 5 - 1 , 5 - 2 , 5 - 3 .
- a grasping face side 11 of the grasping hand is covered with a soft material 14 having a high coefficient of friction, such as rubber, with a view to ensuring a steady grasping of the grasping object, while the outer side face side 12 of the grasping hand is also covered with the soft material 14 for shock-absorption. It is noted that this joint drive mechanism is driven in the grasping direction with air pressure applied, and opened in a direction opposite to the grasping direction by pressure reduction.
- This grasping hand is small in size and light in weight by virtue of the use of the above-described joint drive mechanism 100 , and moreover high in compliance because of the elastic expanding/contracting members 3 used as a driving source, hence a device which is essentially safe against contact and collisions with persons and highly compatible with persons in combination of those two features.
- pneumatic actuators 3 when used as a driving source, show high compliance by virtue of the compressibility of air, thus preferable in this respect.
- the driving-source actuators 3 - 1 , 3 - 2 , 3 - 3 are driven so as to average pressure signals of pressure-sensitive sensors as an example of the touch sensors correspondingly provided on the respective bone members 1 ( 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 ) of the multi-joint drive mechanism 100 , and thus, it becomes possible to grasp grasping objects of various configurations along their configurations, so that the grasping using this grasping hand can be made more flexible in responsivity.
- FIG. 4A is a perspective view for explaining dynamic properties of an elastic hinge mechanism corresponding to a joint of the multi-joint drive mechanism 100 from which the grasping hand is formed, where adjoining bone members 1 , 1 are coupled to each other by a flat spring of the coupling member 2 , and the degree of freedom of the coupling portion 2 A of the coupling member 2 is restrained only to degree of freedom of one-rotation about a Z axis. Therefore, a force 15 in the Z-axis direction applied to the forward-end side (left side in FIG. 4A ) bone member 1 can firmly be sustained with its reaction force given as a moment force 16 about the longitudinal direction (X-axis direction) by the other end portion of the base-end side (right side in FIG.
- this property of force which is effective irrespective of a flexural angle of the coupling portions 2 A if the elastic hinge portion has enough high torsional rigidity, does not depend on the force generated by the actuators 3 - 1 , 3 - 2 , 3 - 3 that serve as a driving source for the joint drive mechanism 100 .
- FIG. 4B is a perspective view showing a state of grasping a columnar grasping object by the 4-finger type grasping hand explained in FIG. 3A .
- this grasping object With the columnar grasping object 17 held by the joint drive mechanisms 100 therebetween, if the frictional force at the gripping surface by that holding force surpasses the gravity of the columnar grasping object 17 , this grasping object can be held without being let to fall.
- a force 15 A applied to the joint drive mechanism 100 can be sustained with its reaction force given as a moment force 16 A of FIG. 4A by the base-end bone member 1 - 4 .
- the property of the moment force 16 A is effective irrespective of a flexural angle of the coupling portions 2 A, and therefore the grasping operation can be performed flexibly and stably by applying a grasping force in which gravity and frictional force are taken into consideration even if the grasping object 17 varies in size, its diameter in the case of a column. Further, the property of the moment force 16 A does not depend on the driving force generated by the actuators 3 - 1 , 3 - 2 , 3 - 3 that serve as a driving source for the joint drive mechanism 100 , and the grasping can be fulfilled only with a stable, minimum grasping force in which the gravity and the frictional force are taken into consideration.
- FIG. 4D is a perspective view showing a state in which an egg-like grasping object 17 is grasped by the 6-finger type grasping hand shown in FIG. 3B .
- the 6-finger type grasping hand is so formed that, as compared with the outer-side finger, joint mechanisms 100 a , 100 c , the mid-side finger joint mechanism 100 c is made larger in joint-to-joint distance with the joints shifted in position and protruded by their lengths being varied.
- FIG. 3B the 6-finger type grasping hand is so formed that, as compared with the outer-side finger, joint mechanisms 100 a , 100 c , the mid-side finger joint mechanism 100 c is made larger in joint-to-joint distance with the joints shifted in position and protruded by their lengths being varied.
- the finger joint mechanisms 100 a , 100 c , 100 c have become deformed in shape to their respective optimum diameters at height-wise places of different diameters of the egg-like grasping object 17 , thus flexibly extending along the grasping object 17 .
- the bone members 1 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4
- it becomes possible to provide a grasping hand which becomes deformed flexibly along an object so as to be able to grasp the object irrespective of the configuration of the grasping object 17 .
- FIG. 9A is a perspective view showing a state in which the columnar grasping object 20 with a disc-shaped flange 20 A attached is grasped by the grasping hands described in FIGS. 3A and 3B .
- the columnar grasping object 20 with the flange 20 A attached is held by the joint drive mechanisms 100 therebetween.
- forces 15 B, 15 B applied to the joint drive mechanisms 100 , 100 on both sides of the grasping object 20 can be borne by the base-end bone members 1 - 4 A, 1 - 4 A as moment forces 16 B, 16 B of their reaction-forces.
- the holding force has only to be a minimum grasping force that allows the grasping object 20 to be maintained in posture without the need for generating a frictional force that surpasses the gravity of the grasping object 20 . This is due to the property of the moment forces 16 B, 16 B.
- FIG. 9A a case where the columnar grasping object 20 with the flange 20 A attached on top is grasped has been described.
- the grasping hand in which a plurality of arrays of the multi-joint drive mechanisms 100 are provided in opposition to each other, in the case of grasping a grasping object having a downwardly narrowed configuration, such as of wineglasses, teacups, or other containers, the grasping object comes, at these portions, to be somewhat mounted on tops of some of the arrays of joint drive mechanisms as described above. This makes it possible to grasp various grasping objects flexibly and yet with a minimum grasping force.
- FIG. 9B is a perspective view showing a state in which a columnar grasping object 22 in a laterally laid posture (i.e., a posture with its longitudinal direction lateral) is grasped by the grasping hands described in FIGS. 3A and 3B .
- a laterally laid posture i.e., a posture with its longitudinal direction lateral
- flexing forward end portions 1 B, . . . , 1 B of four multi-joint drive mechanisms 100 , . . . , 100 to a larger extent makes it possible to grasp the grasping object 22 , as if the grasping object 22 were hooked by a claw, with the weight of the grasping object 22 firmly supported.
- forces 23 , . . .
- FIG. 4C shows a hinge structure described in FIG. 4A , i.e., another mode of the coupling portion, where the bone member 1 is partly constricted to provide a hinge 1 A formed of the bone member itself.
- the structure since no other coupling member is required, the structure is simple, and moreover since the bone-member layer member 101 is preparatorily integrated, the structure is suitable for integration of other layer members.
- the degree of freedom of the coupling portion i.e., the hinge 1 A is restrained to one degree of freedom. Therefore, a force 15 in the Z-axis direction applied to each forward-end side bone member 1 (a bone member 1 corresponding to the left side in FIG.
- polypropylene is suitable as its material. Polypropylene causes less deterioration of strength against large repeated deformation at the hinge portion. In this case, unlike the case in which the hinge is given by the flat spring described in the first embodiment or second embodiment, elastic restoring force is not involved at this hinge portion.
- FIG. 10 a perspective view of a robot equipped with the grasping hand described in the second embodiment is shown in FIG. 10 .
- the grasping hand 50 is coupled to and driven by a moving wagon 51 serving as a robot main unit via two arms 52 , 52 .
- the moving wagon 51 can be moved and positioned to an arbitrary position under the control by a control section 56 accommodated inside the moving wagon 51 .
- Each of the arms 52 are rotatably supported at their both end portions, where the lower arm 52 rotates relative to the moving wagon 51 while the upper arm 52 rotates relative to the lower arm 52 , by motor drive under the condition of the control section 56 , thus allowing the grasping hand 50 to be moved to any arbitrary position.
- the robot including the grasping hand 50 described in the second embodiment is provided, on the grasping face side of the grasping hand 50 , with sensors 53 , 53 such as touch sensors such as pressure-sensitive sensors or friction sensors, or displacement sensors of the individual coupling portions 2 A, or tag information detection antennas. Therefore, in the robot using this grasping hand 50 , the control section 56 that has received signals 54 of those sensors 53 , 53 generated along with the grasping operation on the grasping object is enabled based on these signals 54 to drive the arms 52 and the grasping hand 50 by using signals 55 for controlling the grasping operation.
- sensors 53 , 53 such as touch sensors such as pressure-sensitive sensors or friction sensors, or displacement sensors of the individual coupling portions 2 A, or tag information detection antennas. Therefore, in the robot using this grasping hand 50 , the control section 56 that has received signals 54 of those sensors 53 , 53 generated along with the grasping operation on the grasping object is enabled based on these signals 54 to drive the arms 52 and the grasping hand 50 by using signals 55 for controlling the grasping operation.
- the driving-source actuators 3 - 1 , 3 - 2 , 3 - 3 are driven under the control by the control section 6 A to which operation control start signals for the grasping hand 50 have been inputted from the control section 56 so as to average pressure signals of the pressure-sensitive sensors 53 , 53 correspondingly provided on the respective bone members 1 of the multi-joint drive mechanisms 100 of the grasping hand 50 , and thus, it becomes possible to grasp grasping objects of various configurations along their configurations, so that the grasping using this grasping hand 50 can be made more flexible in responsivity.
- the robot using the grasping hand 50 equipped with a pair of grasping-object information detection devices 57 such as ultrasonic type or image pick-up type or other grasping object detection sensors or cameras or tag information detection antennas or other sensors at the fixing portion 10 A of the grasping hand as shown in FIG. 10
- it is implementable to control the grasping hand 50 by planning a grasping operation based on grasping-object information detection signals derived from the grasping-object information detection device 57 such as the sensors or cameras or antennas and moreover generating a motional locus of the arms 52 or the grasping hand 50 related to the grasping operation.
- combinatorially using signals obtained from the displacement sensors of the described-above coupling portions makes it possible to perform grasping control under the detection of a posture of the grasping hand as well as a more precision obtaining of a position relative to the grasping object.
- FIGS. 5A , 5 B, and 5 C show drive mechanisms in which a rotational degree of freedom of two or three axes is implemented in a planar fashion by an elastic hinge structure using a flat spring. Coupling portions of the bone members 1 , each of which is formed into such a shape as to become a butting portion 1 B whose width gradually decreases, are coupled together by a flat spring 30 made of rubber having a proper rigidity.
- This structure provides a universal joint mechanism capable of rotating about the X, Y, and Z axes.
- strip-shaped elongate elastically expanding/contracting members 31 of the same structure as the elastic expanding/contracting members 3 are disposed on both sides of the butting portion 1 B and on both front and rear sides with both end portions thereof fixed to adjoining bone members 1 , 1 , where the pneumatic actuators of these four elastically expanding/contracting members 31 , . . . , 31 are drivable in free directions by being driven antagonistic to each other.
- FIG. 6 is a perspective view representing a part of a planar-type multi-joint drive mechanism 100 G in which the universal joint mechanism shown in above-described FIGS. 5 A- 5 C is used instead of the third elastically expanding/contracting member 3 - 3 of one planar-type multi-joint drive mechanism.
- Two arrays of bone members are coupled together by a rectangular-plate shaped coupling bone member 1 C on the base end side.
- an elastically expanding/contracting member 32 may be provided at a base end portion between the bone member arrays so that the distance can be efficiently and largely widened by expanding the elastically expanding/contracting member.
- the degree of freedom of at least a coupling portion close to the forward end of the drive section is restrained to one degree of freedom, where the property of the force explained in FIG. 4A in the second embodiment is combinatorially provided, so that the grasping hand using this joint drive mechanism is enabled to firmly sustain the force applied to the hand by the base end portion 1 C of its bone members.
- FIGS. 7A and 7B are a sectional view and a plan view, respectively, representing a multi-joint drive mechanism 100 H in a fourth embodiment of the present invention.
- FIGS. 8A and 8B are a sectional view and a plan view, respectively, representing an antagonistic-drive type multi-joint drive mechanism 100 H also in the fourth embodiment.
- the multi-joint drive mechanisms 100 H in either case are driven by shape memory alloy.
- the fourth embodiment is an embodiment for cases where the elastically expanding/contracting members are provided on their contact surface side against the grasping object and where the elastically expanding/contracting members are provided on the noncontact surface side opposite to the contact surface side.
- McKibbin type pneumatic actuators or electrically drivable electro-active polymers may preferably be applied as actuators.
- elastic hinges 40 A are made up by making use of elasticity of the flexible wiring board 40 .
- displacement sensors 42 for the elastic hinges 40 A are provided on the flexible wiring board 40 as well as touch sensors 46 therefor, both of which are connected by connecting lines 41 , thus providing functions of detecting posture and tactile sense of this joint drive mechanism 100 H.
- shape-memory-alloy wires or coils 43 ( 43 A, 43 B) are fixed to the bone members 1 - 1 , 1 - 2 , 1 - 3 , 1 - 4 and the fixing portion 10 by fixing portions 4 A, . . . , 4 A and 4 B, . . . , 4 B.
- the shape-memory-alloy wires or coils 43 A are fixed to the finger-tip side first bone member 1 - 1 at the fixing portions 4 A, and further fixed to a different third bone member 1 - 3 through hook portions 44 A provided on a different second bone member 1 - 2 .
- the shape-memory-alloy wires or coils 43 B are fixed to the second bone member 1 - 2 , which is the second as counted from the finger tip side, at the fixing portions 4 B, and further fixed to a still different fourth bone member 1 - 4 through hook portions 44 B provided on the different third bone member 1 - 3 .
- Those respective shape-memory-alloy wires (or coils) 43 A and 43 B are independently heated through conduction by a power supply 45 ( 45 A and 45 B), by which the drive mechanism is driven.
- the shape memory alloy of the shape-memory-alloy wires 43 A and 43 B is provided by one which has been shape-memory treated so as to shrink with the temperature increased beyond martensite transformation temperature, where the shape memory alloy recovers its original length by radiation cooling with the conduction cut off.
- hook portions 44 A and the hook portions 44 B are members which serve the role as dynamic fulcrums for transferring forces, which are generated from expansion and contraction of the shape-memory-alloy (SMA) wires or coils 43 A, to the bone members 1 .
- SMA shape-memory-alloy
- These hook portions 44 A, 44 B are attached to the bone members 1 to make the shape-memory-alloy wires or coils 43 A hung therefrom, thus filling the role.
- the fixing portions 4 A and the fixing portions 4 B are members to which the shape-memory-alloy wires or coils 43 A are fixed and which serve the role similarly as dynamic fulcrums for transferring forces, which are generated from expansion and contraction of the shape-memory-alloy wires or coils 43 A, to the bone members 1 .
- the shape-memory-alloy wires or coils 43 A are fixedly hung or wound on stepped pins or the like attached to the bone members 1 as fixing members for the fixing portions 4 A and the fixing portions 4 B.
- the antagonistic-drive type multi-joint drive mechanism of FIGS. 8A and 8B are similar in constituent elements to that of FIGS. 7A and 7B .
- the multi-joint drive mechanism has shape-memory-alloy wires or coils 43 C, 43 C, as driving sources, attached on its both sides with the bone-member layer member 101 sandwiched therebetween, where antagonistic actions due to the drive of the two wires or coils make the drive mechanism drivable in a grasping direction and its opposite direction.
- Some of pneumatic actuators as an example of the actuators are of the type that the actuator is contracted in its longitudinal direction with air pressure applied.
- the McKibbin type actuator as another example of the actuator is formed by covering a rubber tube with a cylindrical mesh, and the actuator is expanded in its diametral direction with air pressure applied, the mesh being pulled up along with the expansion and contracted in the longitudinal direction.
- the pneumatic actuator of such a function is used for the driving source, the shape-memory-alloy wires or coils in FIGS. 7A and 7B may be replaced with the pneumatic actuator having that function, thus allowing the similar drive mechanism to be provided.
- actuators various types of electro-active polymer materials capable of electrical drive have been researched and developed as artificial muscle actuators.
- multilayer-structure actuators in which sheet-like dielectric polymer is provided with flexible electrodes, as well as gel electrostriction type, gel ion-drive type, conductive polymer method, or other ones.
- These actuators when used as a driving source, can be formed as a drive mechanism of the present invention by a structure according to FIGS. 1A-1D or FIGS. 2A-2D for the expansion type, and by a structure according to FIGS. 7A and 7B for the contraction type.
- Such artificial muscle actuators which are composed principally of polymer material, are essentially safe against contact and collisions with persons because of material's own light weight and high compliance in combination.
- artificial muscle actuators which are generally high in generated energy density, can be employed as the driving source for the multi-joint drive mechanisms of the present invention, being servable as a remarkably energy-saving type device, compared with conventional-type multi-joint drive mechanisms composed of electromagnetic motors and speed reducers.
- McKibbin type pneumatic actuator or electrically drivable electro-active polymer is applied as an actuator
- these actuators have a narrow, elongate form such as tube-like, sheet-like, or multi-layered form thereof, there would arise buckling against expansive deformation, making it difficult to use the expansive deformation for actuation.
- these actuators for the most part are preferably made to act in a tensile state due to contractive deformation.
- the fourth embodiment is a structure suited to making such an actuator act in a tensile state by contractive deformation.
- FIGS. 7A and 7B in addition to the structure of FIGS. 2A-2D on the outer side-face side of the grasping hand, where the joint drive mechanism can be driven by antagonistic actions of both expansion-type and contraction-type elastically expanding/contracting members.
- the grasping hand to which this joint drive mechanism is applied can be driven also in a direction of making the grasping object separate away in addition to the function of driving in the grasping direction, thus allowing the distance between joint drive mechanism arrays provided in opposition for grasping to be largely widened.
- the structure in which the driving actuators are provided only on the outer side-face side of the grasping hand in such a manner it becomes implementable to intensively provide displacement sensors of the coupling portions for detection of posture of the joint drive mechanisms, touch sensors for control of the grasping force, and moreover tag information detection antennas for detection of information as to the grasping object, on the grasping surface side, thus advantageous for integration of many distributed sensors.
- the grasping surface side of the grasping hand necessarily needs to be brought closer to or into contact with the grasping object along with the grasping, it is advantageous that these sensors are provided on the grasping surface side.
- Various types of information such as the configuration, grasping position, grasping plan, and the like relating to the grasping object written in the tag affixed on the grasping object can be detected with high sensitivity at close positions.
- FIGS. 11A and 11B show a sectional view and a plan view representing a multi-joint drive mechanism in the fifth embodiment of the present invention.
- the pneumatic piping in the multi-joint drive mechanism described in the first embodiment is provided as a multilayer-type pneumatic piping layer member 60 .
- the layer of the bone-member layer member 101 composed of the bone members 1 and the layer composed of the multilayer-type pneumatic piping layer 60 and the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 are separated from each other, it becomes possible to form these members collectively.
- the rest of the members are similar to those described in the first embodiment.
- FIGS. 12A , 12 B, and 12 C are block diagrams showing a manufacturing method of the multi-joint drive mechanism of this embodiment of the present invention.
- This manufacturing method includes: a first process of FIG. 12A for collectively forming the bone-member layer member 101 which is disposed in a generally planar fashion with the bone members 1 including their hinge portions 1 A; a second process of FIG. 12B for forming the elastic expanding/contracting layer member 103 composed of the elastically expanding/contracting members 3 - 1 , 3 - 2 , 3 - 3 , their coupling portions 3 A, and the air-pressure introducing passages 5 - 1 , 5 - 2 , 5 - 3 ; and a third process of FIG.
- the elastic expanding/contracting layer member 103 for coupling the elastic expanding/contracting layer member 103 to adjoining surfaces of the bone-member layer member 101 .
- polypropylene, polyethylene, polyethylene terephthalate, or other polymers; or their foams or the like can be collectively formed by means of injection (injection molding) or the like so that the hinge portions 1 A come to a constricted structure. Further, the hinge portions 1 A can be formed by locally heating plate-shaped members forming the bone members 1 .
- injection molding injection molding
- the elastically expanding/contracting member is a rubber pneumatic type one that is driven by air pressure
- a structure in which elastic members formed of neoprene or silicon or compositions of these materials with fiber are preliminarily coupled together by polyurethane tubes serving as pneumatic piping is temporarily formed with a metal mold, and then finally formed by vulcanization and heating or the like. Further, this structure is coupled to an adjoining surface of the bone-member layer member 101 . Coupling therefor is carried out by fitting, press fit, or adhesion into the recessed portions 1 a formed in the bone members 1 , respectively.
- FIGS. 13A , 13 B, 13 C, and 13 D are block diagrams showing another manufacturing method of the multi-joint drive mechanism of this embodiment of the present invention.
- the individual bone members 1 made of polyethylene foams are stacked and bonded in a generally planar fashion onto polyethylene terephthalate flat springs A, which constitute the coupling member 2 , with the coupling portions 2 A of the coupling member 2 serving as coupling portions therefor.
- These bone member arrays may also be provided by collectively stacking and bonding preliminarily coupled ones and thereafter cutting them off.
- a three-layer structure made of low-in-elastic-modulus soft silicone rubber as multilayer-type pneumatic piping layer members 60 (such as 60 a , 60 b , 60 c ). More specifically, a ground layer 60 a is first formed, and then on the ground layer 60 a are formed an intermediate layer 60 b having space portions in which air introducing passages 5 ( 5 - 1 , 5 - 2 , 5 - 3 ) are formed, and further on the intermediate layer 60 b is formed an upper layer 60 c having connection holes to the pneumatic actuators. The formation of these three layers can be fulfilled by printing or coating and heat hardening.
- 13D is bonded and stacked a structure to which are coupled pneumatic actuators that are elastically expanding/contracting members 3 ( 3 - 1 , 3 - 2 , 3 - 3 ). Since the individual layers can be formed collectively, the manufacture is facilitated irrespective of the degree-of-freedom number of joints, so that the multi-joint drive mechanism can be manufactured with low cost.
- the multi-joint drive mechanism including the bone-member layer member formed of the plurality of bone members arranged in arrays, the plurality of bone members being movably coupled at the coupling portions, and the elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on the contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side and moreover which are fixed between the plurality of bone members.
- the grasping hand which has the plurality of finger mechanisms formed from the multi-joint drive mechanisms in opposition to one another, where the elastically expanding/contracting members are expanded or contracted so that the finger mechanisms are driven to perform a grasping operation of a grasping object.
- the robot which includes the grasping hand including a plurality of the multi-joint drive mechanisms, the grasping hand having the touch sensors such as pressure-sensitive sensors or friction sensors or displacement sensors for the coupling members, where grasping operation of the grasping hand is controlled based on information detected by the sensors or antennas.
- the grasping hand including a plurality of the multi-joint drive mechanisms, the grasping hand having the touch sensors such as pressure-sensitive sensors or friction sensors or displacement sensors for the coupling members, where grasping operation of the grasping hand is controlled based on information detected by the sensors or antennas.
- the grasping hand which itself is small-sized, lightweight, soft, and safe so as to have a capability of dexterously grasping various objects, so that the multi-joint drive mechanism having the concrete construction of practical level including manufacturing facility can be provided as the drive mechanism for the grasping hand. Consequently, the grasping hand becomes suitable as those of robots that are expected to play an active part in household chore support or work support in home or office, hospitals and the like, as well as in care support for the aged or the physically impaired and the like.
- the multi-joint drive mechanism can be manufactured by collectively forming the bone-member layer member in which the plurality of bone members are arranged in a generally planar fashion and by coupling the elastically-expanding/contracting-member layer member, with which the plurality of elastically expanding/contracting members are integrated, with an adjoining surface of the bone-member layer member on the contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side, it becomes implementable to collectively form the individual layers, thus making it implementable to manufacture the multi-joint drive mechanism with manufacturing facility and low cost irrespective of the degree-of-freedom number of joints.
Abstract
Description
-
- wherein the multi-joint drive mechanism drives flexural motions with the coupling portions between the plurality of adjoining bone members serving as joints by expanding or contracting the elastically expanding/contracting member.
-
- collectively forming at least the bone-member layer member in which the plurality of bone members are arranged in a generally planar fashion; and
- coupling an elastically expanding/contracting member-layer member, with which the plurality of elastically expanding/contracting members are integrated, to an adjoining surface of the bone-member layer member on the contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side.
-
- wherein the grasping hand performs grasping operation for the object by expanding or contracting the elastically expanding/contracting member to drive the finger mechanisms.
-
- a pressure-sensitive sensor, friction sensor or other touch sensor, or a displacement sensor for the coupling portions provided on the grasping hand, whereby grasping operation of the grasping hand is controlled based on information detected by the sensor or antenna.
-
- wherein the multi-joint drive mechanism drives flexural motions with the coupling portions between the plurality of adjoining bone members serving as joints by expanding or contracting the elastically expanding/contracting member.
-
- collectively forming at least the bone-member layer member in which the plurality of bone members are arranged in a generally planar fashion; and
- coupling an elastically expanding/contracting member-layer member, with which the plurality of elastically expanding/contracting members are integrated, to an adjoining surface of the bone-member layer member on the contact-surface side of the bone-member layer member that makes contact with an object and/or on its noncontact-surface side opposed to the contact-surface side.
-
- wherein the grasping hand performs grasping operation for the object by expanding or contracting the elastically expanding/contracting member to drive the finger mechanisms.
-
- a pressure-sensitive sensor, friction sensor or other touch sensor, or a displacement sensor for the coupling portions provided on the grasping hand, whereby grasping operation of the grasping hand is controlled based on information detected by the sensor or antenna.
Claims (21)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002-182504 | 2002-06-24 | ||
JP2002182504 | 2002-06-24 | ||
PCT/JP2003/007914 WO2004000508A1 (en) | 2002-06-24 | 2003-06-23 | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
US20050218679A1 US20050218679A1 (en) | 2005-10-06 |
US7654595B2 true US7654595B2 (en) | 2010-02-02 |
Family
ID=29996656
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/518,756 Expired - Lifetime US7654595B2 (en) | 2002-06-24 | 2003-06-23 | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
Country Status (5)
Country | Link |
---|---|
US (1) | US7654595B2 (en) |
JP (1) | JP3723818B2 (en) |
CN (1) | CN100372660C (en) |
AU (1) | AU2003243948A1 (en) |
WO (1) | WO2004000508A1 (en) |
Cited By (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080082209A1 (en) * | 2006-09-29 | 2008-04-03 | Sang Seung Kang | Robot actuator and robot actuating method |
US20090260473A1 (en) * | 2006-07-31 | 2009-10-22 | Florian Gosselin | Jointed Limb Comprising Fibres, and Jointed Structure and Robot or Haptic Interface Comprising Such a Jointed Limb |
US20090306825A1 (en) * | 2008-04-21 | 2009-12-10 | Ying Li | Manipulation system and method |
US20120065779A1 (en) * | 2010-09-15 | 2012-03-15 | Seiko Epson Corporation | Robot |
WO2012129254A3 (en) * | 2011-03-21 | 2013-01-03 | Sri International | Mobile robotic manipulator system |
US20140125079A1 (en) * | 2012-11-07 | 2014-05-08 | Fanuc Corporation | Robot hand for handling workpiece in high temperature area |
US20140132020A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant Underactuated Grasper |
US20140132021A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant Underactuated Grasper |
US20140284951A1 (en) * | 2013-03-25 | 2014-09-25 | Seiko Epson Corporation | Robot hand and robot |
US8942845B2 (en) | 2010-09-15 | 2015-01-27 | Seiko Epson Corporation | Robot |
US20150108202A1 (en) * | 2013-10-21 | 2015-04-23 | Shenzhen Ami Technology Co. Ltd. | Automatic Soldering System |
US9089977B2 (en) | 2012-11-09 | 2015-07-28 | Irobot Corporation | Compliant underactuated grasper |
US9464642B2 (en) | 2010-11-19 | 2016-10-11 | President And Fellows Of Harvard College | Soft robotic actuators |
US9505135B1 (en) * | 2015-08-28 | 2016-11-29 | Tyco Electronics Corporation | Gripper with conformal spring fingers |
US9545727B1 (en) | 2015-11-05 | 2017-01-17 | Irobot Corporation | Robotic fingers and end effectors including same |
US9945397B2 (en) | 2010-11-19 | 2018-04-17 | President And Fellows Of Harvard College | Systems and methods for actuating soft robotic actuators |
US9962832B2 (en) | 2013-03-04 | 2018-05-08 | President And Fellows Of Harvard College | Magnetic assembly of soft robots with hard components |
US9981377B2 (en) | 2012-03-26 | 2018-05-29 | President And Fellows Of Harvard College | Flexible robotic actuators |
WO2019213093A1 (en) * | 2018-04-30 | 2019-11-07 | Rutgers, The State University Of New Jersey | Expandable arrays and methods of use |
US10661445B2 (en) | 2017-09-15 | 2020-05-26 | Kabushiki Kaisha Toshiba | Holding mechanism, manipulator, and handling robot system |
US20220009092A1 (en) * | 2018-11-21 | 2022-01-13 | Thk Co., Ltd. | Image information processing device, gripping system, and image information processing method |
US11241795B2 (en) * | 2018-09-21 | 2022-02-08 | Beijing Jingdong Shangke Information Technology Co., Ltd. | Soft package, robot system for processing the same, and method thereof |
US11247345B2 (en) * | 2018-08-20 | 2022-02-15 | Massachusetts Institute Of Technology | Shape-shifting fingers for robotic grippers |
US11376749B2 (en) * | 2018-10-30 | 2022-07-05 | Siemens Aktiengesellschaft | Gripping finger having curved spacing elements, and adaptive gripping device |
Families Citing this family (77)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3932363B2 (en) * | 2003-09-18 | 2007-06-20 | 独立行政法人産業技術総合研究所 | Robot and object processing method |
WO2006006624A1 (en) * | 2004-07-13 | 2006-01-19 | Matsushita Electric Industrial Co., Ltd. | Article holding system, robot and robot control method |
JP4692824B2 (en) * | 2005-12-16 | 2011-06-01 | 株式会社安川電機 | Multi-finger hand system and robot using the same |
WO2008058061A2 (en) * | 2006-11-03 | 2008-05-15 | President And Fellows Of Harvard College | Robust compliant adaptive grasper and method of manufacturing same |
US20090132088A1 (en) * | 2007-04-24 | 2009-05-21 | Tairob Ltd. | Transfer of knowledge from a human skilled worker to an expert machine - the learning process |
DE102007052012A1 (en) * | 2007-10-31 | 2009-05-07 | Grenzebach Maschinenbau Gmbh | Method and device for detecting and reloading luggage |
WO2009119069A1 (en) | 2008-03-27 | 2009-10-01 | パナソニック株式会社 | Flat laminate-type conductive polymer actuator, flat laminate-type conductive polymer actuator device, and operating method thereof |
US9052710B1 (en) * | 2009-03-20 | 2015-06-09 | Exelis Inc. | Manipulation control based upon mimic of human gestures |
US20100295417A1 (en) * | 2009-05-21 | 2010-11-25 | President And Fellows Of Harvard College | Multi-Segmented Spine with Integrated Actuation |
DE102010005673A1 (en) * | 2010-01-26 | 2011-07-28 | INA - Drives & Mechatronics GmbH & Co. OHG, 98527 | Gripper for a handling device |
JPWO2011135886A1 (en) | 2010-04-27 | 2013-07-18 | 日本電気株式会社 | Wireless tag sensor system and calibration method thereof |
US20130079905A1 (en) * | 2010-06-03 | 2013-03-28 | Hitachi, Ltd. | Human-Operated Working Machine System |
US20120174571A1 (en) * | 2010-12-10 | 2012-07-12 | Villanueva Alexis A | Shape memory alloy (sma) actuators and devices including bio-inspired shape memory alloy composite (bismac) actuators |
CN102825606B (en) * | 2011-06-16 | 2016-02-03 | 鸿富锦精密工业(深圳)有限公司 | Clamp device |
JP5929105B2 (en) * | 2011-11-07 | 2016-06-01 | 富士通株式会社 | Gripping device and robot |
JP2013123785A (en) * | 2011-12-16 | 2013-06-24 | Seiko Epson Corp | Robot hand and robot |
JP5516610B2 (en) * | 2012-01-19 | 2014-06-11 | 株式会社安川電機 | Robot, robot hand, and holding position adjustment method of robot hand |
CN102873690B (en) * | 2012-09-27 | 2014-12-03 | 浙江大学 | Dexterous hand driven by shape memory alloy |
US9445732B2 (en) * | 2013-04-28 | 2016-09-20 | Hong Kong Applied Science and Technology Research Institute Company Limited | Methods and device for sensing a person's pulse in traditional chinese medicine |
US10689044B2 (en) | 2014-06-30 | 2020-06-23 | President And Fellows Of Harvard College | Resilient, untethered soft robot |
GB201413101D0 (en) * | 2014-07-23 | 2014-09-03 | Aprium Tech Ltd | Security Tag |
US10046461B2 (en) | 2014-08-25 | 2018-08-14 | Paul Ekas | Link structure and assembly including cable guide system for robotic mechanical manipulator structure |
US9469027B2 (en) * | 2014-08-25 | 2016-10-18 | Paul Ekas | Tendon based robotic fingers having shock absorbing and self re-aligning features |
JP6483251B2 (en) | 2014-09-17 | 2019-03-13 | ソフト ロボティクス, インコーポレイテッド | Soft robot actuator mounting hub assembly |
AU2015350006B2 (en) * | 2014-11-18 | 2019-09-26 | Soft Robotics, Inc. | Soft robotic actuator enhancements |
US10189168B2 (en) * | 2014-11-18 | 2019-01-29 | Soft Robotics, Inc. | Soft robotic actuator enhancements |
US10173328B2 (en) * | 2015-03-23 | 2019-01-08 | Soft Robotics, Inc. | Soft robotic actuators and methods of manufacturing the same |
CN104890004A (en) * | 2015-06-09 | 2015-09-09 | 杭州南江机器人股份有限公司 | Robot bionic finger |
CA2987480C (en) * | 2015-06-11 | 2024-01-16 | Soft Robotics, Inc. | Modular robotic systems |
EP3964335A1 (en) * | 2015-07-30 | 2022-03-09 | Soft Robotics, Inc. | Self-contained robotic gripper system |
CN107921634B (en) * | 2015-08-25 | 2021-04-02 | 川崎重工业株式会社 | Robot system |
CN105291122A (en) * | 2015-11-06 | 2016-02-03 | 上海交通大学无锡研究院 | Finger mechanism of wiring robot |
US10456910B2 (en) * | 2016-01-14 | 2019-10-29 | Purdue Research Foundation | Educational systems comprising programmable controllers and methods of teaching therewith |
US9914214B1 (en) * | 2016-02-22 | 2018-03-13 | X Development Llc | Preshaping for underactuated fingers |
EP3439835A1 (en) * | 2016-04-07 | 2019-02-13 | Soft Robotics, Inc. | Soft robotic actuators for positioning, packaging, and assembling |
CN106514604B (en) * | 2016-11-21 | 2019-07-12 | 云南电网有限责任公司电力科学研究院 | A kind of robot with fine tuning mechanical arm, control method and device |
CN106514644B (en) * | 2016-11-21 | 2019-02-26 | 云南电网有限责任公司电力科学研究院 | A kind of robot with memorial alloy hanger rope, control method and device |
US10369704B2 (en) * | 2016-12-16 | 2019-08-06 | Soft Robotics, Inc. | Base systems for supporting soft robotic actuators |
US11167422B2 (en) | 2017-03-30 | 2021-11-09 | Soft Robotics, Inc. | User-assisted robotic control systems |
CN107081777B (en) * | 2017-05-10 | 2023-06-16 | 中国科学技术大学 | Shape memory alloy flexible intelligent digital composite structure-based humanoid dexterous hand |
WO2018223288A1 (en) * | 2017-06-06 | 2018-12-13 | 深圳加创科技有限公司 | Composite joint and method for manufacturing same |
CN107175681A (en) * | 2017-06-27 | 2017-09-19 | 武汉库柏特科技有限公司 | A kind of flexible three-finger configuration manipulator |
CN107214687B (en) * | 2017-07-25 | 2021-04-20 | 江苏大学 | Thermal deformation cavity driven crawling soft robot |
US10322511B1 (en) * | 2017-12-06 | 2019-06-18 | X Development Llc | Robotic finger shape recovery |
US10792809B2 (en) * | 2017-12-12 | 2020-10-06 | X Development Llc | Robot grip detection using non-contact sensors |
JP7136554B2 (en) * | 2017-12-18 | 2022-09-13 | 国立大学法人信州大学 | Grasping device, learning device, program, grasping system, and learning method |
CN107932548A (en) * | 2017-12-25 | 2018-04-20 | 无锡特恒科技有限公司 | It is a kind of to pass through axis and the rotating mechanism of brass bushing friction |
CN108283056B (en) * | 2018-02-27 | 2024-02-13 | 浙江水利水电学院 | Elastic manipulator for picking fruit by sucking and grabbing |
CN108263504A (en) * | 2018-03-21 | 2018-07-10 | 刘海成 | A kind of Pneumatic bionic software climbing robot |
JP6912415B2 (en) * | 2018-04-10 | 2021-08-04 | ファナック株式会社 | Hand control device and hand control system |
JP7141088B2 (en) * | 2018-05-11 | 2022-09-22 | 学校法人早稲田大学 | Joint structure and robot hand |
CN108858136B (en) * | 2018-05-16 | 2021-11-05 | 大连交通大学 | Distributed driven variable-stiffness joint power assisting mechanism |
DE202018003677U1 (en) * | 2018-08-07 | 2019-11-08 | Hans Heidolph GmbH | Laboratory device with a fastening device for a removable element |
US10456929B1 (en) * | 2018-08-13 | 2019-10-29 | Schlumberger Technology Corporation | Negative pressure actuated soft bending actuator |
CN109048980A (en) * | 2018-09-14 | 2018-12-21 | 南京理工大学 | A kind of pneumatic software gripper of articulated type endoskeleton |
CN109514544A (en) * | 2018-12-27 | 2019-03-26 | 浙江工业大学 | A kind of bionic mechanical hand |
CN110405804B (en) * | 2019-01-16 | 2023-07-21 | 上海海洋大学 | Manipulator for realizing food sorting function by bionic squid tentacles |
CN109877859A (en) * | 2019-03-15 | 2019-06-14 | 天津交通职业学院 | The pneumatic machinery finger that each joint can be move freely |
CN109940645B (en) * | 2019-03-20 | 2023-12-29 | 中国地质大学(武汉) | Thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand |
CN109955275B (en) * | 2019-03-20 | 2023-12-29 | 中国地质大学(武汉) | Thermal expansion fluid composite special-shaped cavity driving type robot soft hand |
US11738893B2 (en) | 2019-04-30 | 2023-08-29 | Soft Robotics, Inc. | Picking, placing, and scanning bagged clothing and other articles |
CN110394827A (en) * | 2019-07-01 | 2019-11-01 | 浙江大学 | A kind of mechanical finger design method of multi-electrode driving |
CN110434884A (en) * | 2019-07-15 | 2019-11-12 | 浙江工业大学 | Clamping jaw based on gel driver |
DE102019119111A1 (en) * | 2019-07-15 | 2021-01-21 | Technische Universität Dresden | Gripper, gripper arrangement, gripper hand and gripper hand arrangement |
CN110696037A (en) * | 2019-09-27 | 2020-01-17 | 惠州市百欧森环保新材料有限公司 | Clamp assembly and mechanical arm device |
CN110638413B (en) * | 2019-09-29 | 2021-06-25 | 华中科技大学鄂州工业技术研究院 | Automatic turning endoscope |
CN110561469B (en) * | 2019-09-30 | 2021-03-30 | 清华大学 | Pneumatic finger of software of embedded skeleton |
US11312027B2 (en) * | 2019-10-15 | 2022-04-26 | Aeolus Robotics Corporation Limited | Robotic gripper |
US11904457B2 (en) * | 2019-12-27 | 2024-02-20 | Evodyne Robotics Corporation | Compliant gripper |
KR102338813B1 (en) * | 2019-12-27 | 2021-12-10 | 한국기술교육대학교 산학협력단 | Apparatus for robot hand using oil or air pressure and the construction method thereof |
CN111482948B (en) * | 2020-04-03 | 2022-07-15 | 中国科学技术大学 | Pneumatic bionic tongue based on shape memory alloy |
TWI739589B (en) * | 2020-09-09 | 2021-09-11 | 上銀科技股份有限公司 | Gripper device |
JP2022138072A (en) * | 2021-03-09 | 2022-09-22 | ソニーグループ株式会社 | Robot device, surgical manipulator, and system |
CN113681540B (en) * | 2021-07-30 | 2022-08-05 | 南京航空航天大学 | Drive-adhesion integrated flexible grabbing device based on PVC gel and preparation method |
CN113696209A (en) * | 2021-08-30 | 2021-11-26 | 上汽通用五菱汽车股份有限公司 | Grip for clamping cylinder |
KR102546811B1 (en) * | 2021-10-08 | 2023-06-23 | 아주대학교산학협력단 | Soft gripper sensor |
CN114102657B (en) * | 2021-12-28 | 2023-09-08 | 中北大学 | Multistable flexible gripper driven by liquid crystal elastomer and preparation method thereof |
Citations (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2435614A (en) * | 1945-07-09 | 1948-02-10 | Jr Garnet R Tureman | Artificial hand |
US3509583A (en) * | 1965-09-09 | 1970-05-05 | Bendix Corp | Electro-mechanical hand having tactile sensing means |
US4350381A (en) * | 1979-10-09 | 1982-09-21 | Colortronic Reinhard & Co. Kg | Gripper with serially pivoted fingers |
US4364593A (en) * | 1979-10-25 | 1982-12-21 | Agency Of Industrial Science & Technology | Object grasping system |
JPS59102586A (en) | 1982-11-30 | 1984-06-13 | 住友電気工業株式会社 | Multi-joint robot |
EP0333872A1 (en) | 1987-09-18 | 1989-09-27 | Wacoh Corporation | Gripper for a robot |
JPH02100791A (en) | 1988-10-07 | 1990-04-12 | Fuji Electric Co Ltd | Commodity heating device for automatic vending machine of can commodities |
US4928926A (en) * | 1987-02-10 | 1990-05-29 | Persluchtring Advies B.V. | Fluid pressure operated push beam and apparatus comprising one or more of such push beams |
JPH0360988A (en) | 1989-07-27 | 1991-03-15 | Ckd Corp | Piezo-electric type grasping device |
US5130747A (en) | 1990-09-28 | 1992-07-14 | Kabushiki Kaisha Toshiba | Carrier apparatus |
US5200679A (en) * | 1990-02-22 | 1993-04-06 | Graham Douglas F | Artificial hand and digit therefor |
US5245885A (en) * | 1992-07-13 | 1993-09-21 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Bladder operated robotic joint |
JPH0691582A (en) | 1992-09-16 | 1994-04-05 | Olympus Optical Co Ltd | Multi-joint manipulator, its manufacturing method and actuator |
EP1043642A2 (en) | 1999-04-08 | 2000-10-11 | Fanuc Ltd | Robot system having image processing function |
JP2001105378A (en) | 1999-10-08 | 2001-04-17 | Aloka Co Ltd | Handling device |
JP3226219B2 (en) | 1989-12-20 | 2001-11-05 | 株式会社東芝 | Actuator |
JP3245095B2 (en) | 1997-08-07 | 2002-01-07 | 川▲崎▼ 晴久 | Robot hand |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH077113Y2 (en) * | 1989-01-30 | 1995-02-22 | 株式会社中村機器エンジニアリング | Gripping device |
-
2003
- 2003-06-23 AU AU2003243948A patent/AU2003243948A1/en not_active Abandoned
- 2003-06-23 WO PCT/JP2003/007914 patent/WO2004000508A1/en active Application Filing
- 2003-06-23 CN CNB038146398A patent/CN100372660C/en not_active Expired - Fee Related
- 2003-06-23 US US10/518,756 patent/US7654595B2/en not_active Expired - Lifetime
- 2003-06-23 JP JP2004515545A patent/JP3723818B2/en not_active Expired - Fee Related
Patent Citations (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2435614A (en) * | 1945-07-09 | 1948-02-10 | Jr Garnet R Tureman | Artificial hand |
US3509583A (en) * | 1965-09-09 | 1970-05-05 | Bendix Corp | Electro-mechanical hand having tactile sensing means |
US4350381A (en) * | 1979-10-09 | 1982-09-21 | Colortronic Reinhard & Co. Kg | Gripper with serially pivoted fingers |
US4364593A (en) * | 1979-10-25 | 1982-12-21 | Agency Of Industrial Science & Technology | Object grasping system |
JPS59102586A (en) | 1982-11-30 | 1984-06-13 | 住友電気工業株式会社 | Multi-joint robot |
US4928926A (en) * | 1987-02-10 | 1990-05-29 | Persluchtring Advies B.V. | Fluid pressure operated push beam and apparatus comprising one or more of such push beams |
EP0333872A1 (en) | 1987-09-18 | 1989-09-27 | Wacoh Corporation | Gripper for a robot |
JPH02100791A (en) | 1988-10-07 | 1990-04-12 | Fuji Electric Co Ltd | Commodity heating device for automatic vending machine of can commodities |
JPH0360988A (en) | 1989-07-27 | 1991-03-15 | Ckd Corp | Piezo-electric type grasping device |
JP3226219B2 (en) | 1989-12-20 | 2001-11-05 | 株式会社東芝 | Actuator |
US5200679A (en) * | 1990-02-22 | 1993-04-06 | Graham Douglas F | Artificial hand and digit therefor |
US5130747A (en) | 1990-09-28 | 1992-07-14 | Kabushiki Kaisha Toshiba | Carrier apparatus |
US5245885A (en) * | 1992-07-13 | 1993-09-21 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Bladder operated robotic joint |
JPH0691582A (en) | 1992-09-16 | 1994-04-05 | Olympus Optical Co Ltd | Multi-joint manipulator, its manufacturing method and actuator |
JP3245095B2 (en) | 1997-08-07 | 2002-01-07 | 川▲崎▼ 晴久 | Robot hand |
EP1043642A2 (en) | 1999-04-08 | 2000-10-11 | Fanuc Ltd | Robot system having image processing function |
JP2001105378A (en) | 1999-10-08 | 2001-04-17 | Aloka Co Ltd | Handling device |
Cited By (43)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090260473A1 (en) * | 2006-07-31 | 2009-10-22 | Florian Gosselin | Jointed Limb Comprising Fibres, and Jointed Structure and Robot or Haptic Interface Comprising Such a Jointed Limb |
US8973461B2 (en) | 2006-07-31 | 2015-03-10 | Commissariat A L'energie Atomique | Jointed limb comprising fibres, and jointed structure and robot or haptic interface comprising such a jointed limb |
US20080082209A1 (en) * | 2006-09-29 | 2008-04-03 | Sang Seung Kang | Robot actuator and robot actuating method |
US20090306825A1 (en) * | 2008-04-21 | 2009-12-10 | Ying Li | Manipulation system and method |
US9149928B2 (en) * | 2010-09-15 | 2015-10-06 | Seiko Epson Corporation | Robot |
US20120065779A1 (en) * | 2010-09-15 | 2012-03-15 | Seiko Epson Corporation | Robot |
US10814476B2 (en) | 2010-09-15 | 2020-10-27 | Seiko Epson Corporation | Robot system |
US9962829B2 (en) | 2010-09-15 | 2018-05-08 | Seiko Epson Corporation | Robot system |
US8942845B2 (en) | 2010-09-15 | 2015-01-27 | Seiko Epson Corporation | Robot |
US10465723B2 (en) | 2010-11-19 | 2019-11-05 | President And Fellows Of Harvard College | Soft robotic actuators |
US9945397B2 (en) | 2010-11-19 | 2018-04-17 | President And Fellows Of Harvard College | Systems and methods for actuating soft robotic actuators |
US9464642B2 (en) | 2010-11-19 | 2016-10-11 | President And Fellows Of Harvard College | Soft robotic actuators |
US9272425B2 (en) | 2011-03-21 | 2016-03-01 | Sri International | Twisted string actuator systems |
US9272427B2 (en) | 2011-03-21 | 2016-03-01 | Sri International | Multilayer electrolaminate braking system |
WO2012129254A3 (en) * | 2011-03-21 | 2013-01-03 | Sri International | Mobile robotic manipulator system |
US8833826B2 (en) | 2011-03-21 | 2014-09-16 | Sri International | Mobile robotic manipulator system |
US10994413B2 (en) | 2012-03-26 | 2021-05-04 | President And Fellows Of Harvard College | Flexible robotic actuators |
US9981377B2 (en) | 2012-03-26 | 2018-05-29 | President And Fellows Of Harvard College | Flexible robotic actuators |
US20140125079A1 (en) * | 2012-11-07 | 2014-05-08 | Fanuc Corporation | Robot hand for handling workpiece in high temperature area |
US8979151B2 (en) * | 2012-11-07 | 2015-03-17 | Fanuc Corporation | Robot hand for handling workpiece in high temperature area |
US20140132021A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant Underactuated Grasper |
US9004559B2 (en) * | 2012-11-09 | 2015-04-14 | Irobot Corporation | Compliant underactuated grasper |
US9327412B2 (en) | 2012-11-09 | 2016-05-03 | Irobot Corporation | Compliant underactuated grasper |
US9089977B2 (en) | 2012-11-09 | 2015-07-28 | Irobot Corporation | Compliant underactuated grasper |
US9114540B2 (en) | 2012-11-09 | 2015-08-25 | Irobot Corporation | Compliant underactuated grasper |
US20140132020A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant Underactuated Grasper |
US8991885B2 (en) * | 2012-11-09 | 2015-03-31 | Irobot Corporation | Compliant underactuated grasper |
US10843336B2 (en) | 2013-03-04 | 2020-11-24 | President And Fellows Of Harvard College | Magnetic assembly of soft robots with hard components |
US9962832B2 (en) | 2013-03-04 | 2018-05-08 | President And Fellows Of Harvard College | Magnetic assembly of soft robots with hard components |
US9248575B2 (en) * | 2013-03-25 | 2016-02-02 | Seiko Epson Corporation | Robot hand and robot |
US20140284951A1 (en) * | 2013-03-25 | 2014-09-25 | Seiko Epson Corporation | Robot hand and robot |
US20150108202A1 (en) * | 2013-10-21 | 2015-04-23 | Shenzhen Ami Technology Co. Ltd. | Automatic Soldering System |
US9505135B1 (en) * | 2015-08-28 | 2016-11-29 | Tyco Electronics Corporation | Gripper with conformal spring fingers |
US9545727B1 (en) | 2015-11-05 | 2017-01-17 | Irobot Corporation | Robotic fingers and end effectors including same |
US9744677B2 (en) | 2015-11-05 | 2017-08-29 | Irobot Corporation | Robotic fingers and end effectors including same |
US10661445B2 (en) | 2017-09-15 | 2020-05-26 | Kabushiki Kaisha Toshiba | Holding mechanism, manipulator, and handling robot system |
WO2019213093A1 (en) * | 2018-04-30 | 2019-11-07 | Rutgers, The State University Of New Jersey | Expandable arrays and methods of use |
US11565264B2 (en) | 2018-04-30 | 2023-01-31 | Rutgers, The State University Of New Jersey | Expandable arrays and methods of use |
US11247345B2 (en) * | 2018-08-20 | 2022-02-15 | Massachusetts Institute Of Technology | Shape-shifting fingers for robotic grippers |
US11241795B2 (en) * | 2018-09-21 | 2022-02-08 | Beijing Jingdong Shangke Information Technology Co., Ltd. | Soft package, robot system for processing the same, and method thereof |
US11376749B2 (en) * | 2018-10-30 | 2022-07-05 | Siemens Aktiengesellschaft | Gripping finger having curved spacing elements, and adaptive gripping device |
US20220009092A1 (en) * | 2018-11-21 | 2022-01-13 | Thk Co., Ltd. | Image information processing device, gripping system, and image information processing method |
US11607803B2 (en) * | 2018-11-21 | 2023-03-21 | Thk Co., Ltd. | Image information processing device, gripping system, and image information processing method |
Also Published As
Publication number | Publication date |
---|---|
CN1662349A (en) | 2005-08-31 |
CN100372660C (en) | 2008-03-05 |
JPWO2004000508A1 (en) | 2005-10-20 |
JP3723818B2 (en) | 2005-12-07 |
AU2003243948A1 (en) | 2004-01-06 |
US20050218679A1 (en) | 2005-10-06 |
WO2004000508A1 (en) | 2003-12-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US7654595B2 (en) | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism | |
Wei et al. | A novel, variable stiffness robotic gripper based on integrated soft actuating and particle jamming | |
Robinson et al. | Continuum robots-a state of the art | |
Zhakypov et al. | An origami-inspired reconfigurable suction gripper for picking objects with variable shape and size | |
US7258379B2 (en) | Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same | |
Arai et al. | Development of 3 DOF micro finger | |
WO2023134185A1 (en) | Mechanical arm based on minimum energy structure of dielectric elastomer | |
CN111727109A (en) | Soft robotic gripper with hybrid architecture and gripping reliability | |
Zolfagharian et al. | A bioinspired compliant 3D-printed soft gripper | |
Long et al. | A systematic review and meta-analysis of robotic gripper | |
Li et al. | Honeycomb jamming: An enabling technology of variable stiffness reconfiguration | |
Zhang et al. | Design and feasibility tests of a lightweight soft gripper for compliant and flexible envelope grasping | |
EP1322030A1 (en) | Overlapping type piezoelectric stator, overlapping type piezoelectric acturator and applications thereof | |
Ambrose et al. | Compact multilayer extension actuators for reconfigurable soft robots | |
Godaba et al. | A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphing | |
Zhu et al. | A 3D printed two DoF soft robotic finger with variable stiffness | |
Zhu et al. | Design and fabrication of a soft-bodied gripper with integrated curvature sensors | |
Ruotolo et al. | Distal hyperextension is handy: High range of motion in cluttered environments | |
Shintake | Functional soft robotic actuators based on dielectric elastomers | |
CN113967922B (en) | Full-flexible pneumatic soft bionic manipulator | |
JP3226219B2 (en) | Actuator | |
Zhang et al. | Tunable Folding Assembly Strategy for Soft Pneumatic Actuators | |
Schulz et al. | Progress in the development of anthropomorphic fluidic hands for a humanoid robot | |
Chu et al. | A passively conforming soft robotic gripper with three-dimensional negative bending stiffness fingers | |
Krishnan et al. | A multi-fingered micromechanism for coordinated micro/nano manipulation |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD., JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:YOKOYAMA, KAZUO;ONO, ATSUSHI;ASAI, KATSUHIKO;AND OTHERS;REEL/FRAME:016739/0494;SIGNING DATES FROM 20041112 TO 20041113 Owner name: MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.,JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:YOKOYAMA, KAZUO;ONO, ATSUSHI;ASAI, KATSUHIKO;AND OTHERS;SIGNING DATES FROM 20041112 TO 20041113;REEL/FRAME:016739/0494 |
|
AS | Assignment |
Owner name: PANASONIC CORPORATION, JAPAN Free format text: CHANGE OF NAME;ASSIGNOR:MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.;REEL/FRAME:021897/0624 Effective date: 20081001 Owner name: PANASONIC CORPORATION,JAPAN Free format text: CHANGE OF NAME;ASSIGNOR:MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.;REEL/FRAME:021897/0624 Effective date: 20081001 |
|
STCF | Information on status: patent grant |
Free format text: PATENTED CASE |
|
CC | Certificate of correction | ||
CC | Certificate of correction | ||
FEPP | Fee payment procedure |
Free format text: PAYOR NUMBER ASSIGNED (ORIGINAL EVENT CODE: ASPN); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
FPAY | Fee payment |
Year of fee payment: 4 |
|
FEPP | Fee payment procedure |
Free format text: PAYER NUMBER DE-ASSIGNED (ORIGINAL EVENT CODE: RMPN); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY Free format text: PAYOR NUMBER ASSIGNED (ORIGINAL EVENT CODE: ASPN); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
FPAY | Fee payment |
Year of fee payment: 8 |
|
MAFP | Maintenance fee payment |
Free format text: PAYMENT OF MAINTENANCE FEE, 12TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1553); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY Year of fee payment: 12 |